更新tool添加了将.pos文件转换成python list格式方便画图

QT/Win/read_IMU/cmake-build-debug/CMakeCache.txt

@@ -39,7 +39,7 @@ CMAKE_CODEBLOCKS_MAKE_ARGUMENTS:STRING=-j10
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+CMake Warning at /Applications/CLion.app/Contents/bin/cmake/mac/share/cmake-3.23/Modules/Platform/Darwin-Initialize.cmake:303 (message):
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+
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+
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+  CMakeLists.txt:2 (project)
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TC_NAV_Zjut_post/cmake-build-debug/Testing/Temporary/LastTest.log

@@ -1,3 +1,3 @@
-Start testing: Nov 28 20:32 CST
+Start testing: Nov 29 10:24 CST
 ----------------------------------------------------------
-End testing: Nov 28 20:32 CST
+End testing: Nov 29 10:24 CST

TC_Nav_Zjut报告.md

@@ -54,7 +54,7 @@ LG69T模块可以采集多频点信号，并带板载IMU，可以同时输出GNS
 
 |              | LG69T板载算法 | TC_Nav_Zjut #C |
 | ------------ | ------------- | -------------- |
-| **CEP95**(m) | 1.5           | 1.8            |
+| **CEP95**(m) | 1.3           | 1.5            |
 
 ## 2.高架桥下+高架辅道测试
 
@@ -62,6 +62,8 @@ LG69T模块可以采集多频点信号，并带板载IMU，可以同时输出GNS
 
 ![截屏2022-11-28 15.47.29](/Users/wakanda_shaw/Desktop/截屏2022-11-28 15.47.29.png)
 
+![Figure_1](/Users/wakanda_shaw/Desktop/Figure_1.png)
+
 |              | LG69T板载算法 | TC_Nav_Zjut #C |
 | ------------ | ------------- | -------------- |
 | **CEP95**(m) |               |                |

tools/plot.py

@@ -1,7 +1,9 @@
+import numpy as np
 import pandas as pd
 from readpos import readpos
 import math
 from geopy.distance import geodesic
+import matplotlib.pyplot as plt
 
 
 LG69T_path = "./llh.csv"
@@ -12,20 +14,46 @@ D2R = math.pi/180
 # 从.pos文件得到python lsit 格式数据
 llh = readpos(TC_Nav_path)
 
-LG69T_data = pd.read_csv(LG69T_path,names=['tow','lat','lon'],dtype=float)
+LG69T_data = pd.read_csv(LG69T_path,names=['tow','lat','lon'],dtype=np.float64)
+
 # list 转换到 dataframe
-TC_Nav_data = pd.DataFrame(llh,columns=['tow','lat','lon'],dtype=float)
+TC_Nav_data = pd.DataFrame(llh,columns=['tow','lat','lon'])
+
+x=[]
+y=[]
 for i in range(len(TC_Nav_data)):
     tow = TC_Nav_data.iloc[i,0]
-    TC_lat = TC_Nav_data.iloc[i,1]
+    if(tow==367036):
-    TC_lon = TC_Nav_data.iloc[i,2]
+        break
-    LG_lat = LG69T_data.loc[LG69T_data['tow']==tow,['lat']]
+    TC_lat = TC_Nav_data.iloc[i,1].round(10)
-    LG_lat = LG_lat.iloc[0,0]
+    TC_lon = TC_Nav_data.iloc[i,2].round(10)
-    LG_lon = LG69T_data.loc[LG69T_data['tow']==tow,['lon']]
+
-    LG_lon = LG_lon.iloc[0,0]
+    if tow==17 or tow==89:
+        continue
+    try:
+        LG_lat = LG69T_data.loc[(LG69T_data['tow']-18)==tow,['lat']]
+        LG_lat = LG_lat.iloc[0,0].round(10)
+        LG_lon = LG69T_data.loc[(LG69T_data['tow']-18)==tow,['lon']]
+        LG_lon = LG_lon.iloc[0,0].round(10)
+    except:
+        print(i,"pass")
+        continue
 
     distance = geodesic((TC_lat,TC_lon),(LG_lat,LG_lon)).m
-    print("距离：{:.3f}m".format(distance))
+    print(i,"距离：{:.3f}m".format(distance))
+
+    x.append(tow)
+    y.append(distance)
+
+plt.plot(x,y,label='TC_Nav#C')
+plt.legend(loc = 'upper right')
+plt.grid()  # 生成网格
+plt.xlabel("time(s)")
+plt.ylabel("distance(m)")
+plt.show()
+
+
+